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Motor DC 120
Motor DC 120
= =
+ +
0.6 =
8.4 11.2 j
* 51
o
| =
126.9 ,| | 14
o
OPx OP = =
=>
1 1
8.61, 22.76
T T o
= =
( ). ( ) 1 35
c c
G s G s K = =
8.61
( ) 35
22.76
c
s
G s
s
+
=
+
c) Thit k h thng bng PID
M hnh PID:
S dng phng php iu chnh bng tay cc
thng s ca PID theo bng sau:
Operation Rise time Overshoot Stability
K
p
tng Faster Increases
Decreases
T
D
tng Slower Decreases
Increases
1/T
I
tng
Faster
Increases
Decreases
Thc hin theo cc bc sau:
Tng K
p
gim thi gian xc lp
Tip tc tng T
D
gim vt l
Tng 1/T
I
ly li thi gian xc lp theo yu
cu
Lp li t bc 2 n khi tha yu cu t ra
Vi motor Dc nh v d trn th c cc thng s
sau: P= 55 , I= 2.8 , D= 3.6
So snh kt qu cc b iu
khin
Khng c bk Pp QNS Pp PID
T
r
(s) 4.5 0.32 0.25
T
s
(s) 5.3 0.5 0.3
POT 0 9.5% 1.4%
e 0 0 0.01
Trc khi c b iu khin:
Dng b iu khin QNS:
Dng b iu khin PID:
M hnh phn cng BK
M hnh dng opamp thit k hm truyn.
S dng bin tr quay o gc quay v x l
tn hiu ri hi tip v b tng.